DocumentCode :
2905605
Title :
Analysis of human gait using an Inverted Pendulum Model
Author :
Tang, Zhe ; Er, Meng Joo ; Chien, C.-J.
Author_Institution :
Sch. of Inf. Sci. & Eng., Central South Univ., Changsha
fYear :
2008
fDate :
1-6 June 2008
Firstpage :
1174
Lastpage :
1178
Abstract :
IPM(Inverted Pendulum Model) has been widely used for modeling of human motion gaits. There is a common condition in most of these models, the reaction force between the floor and the humanoid must go through the CoG (Center of Gravity) of the a humanoid or human being. However, the recent bio-mechanical studies show that there are angular moments around the CoG of a human being during human motion. In other words, the reaction force does not necessarily pass through the CoG. In this paper, the motion of IPM is analyzed by taking into consideration two kinds of rotational moments, namely around the pivot and around the CoG. The human motion has been decomposed into the sagittal plane and front plane in the double support phase and single support phase. The motions of the IPM in these four different phases are derived by solving four differential equations with boundary conditions. Simulation results show that a stable human gait is synthesized by using our proposed IPM.
Keywords :
differential equations; gait analysis; humanoid robots; mobile robots; pendulums; robot kinematics; angular moment; biomechanics; boundary condition; differential equation; double support phase; front plane; human motion gait analysis; humanoid robot; inverted pendulum model; rotational moment; sagittal plane; single support phase; Boundary conditions; Differential equations; Erbium; Gravity; Humanoid robots; Humans; Legged locomotion; Motion analysis; Robot kinematics; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational Intelligence). IEEE International Conference on
Conference_Location :
Hong Kong
ISSN :
1098-7584
Print_ISBN :
978-1-4244-1818-3
Electronic_ISBN :
1098-7584
Type :
conf
DOI :
10.1109/FUZZY.2008.4630519
Filename :
4630519
Link To Document :
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